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As far as I can tell, c.contact is an integer. I recommend you try:

c.contact = 1;

and publish it. If that doesn't work, let's pick at it to see what it is. Try:

int test = c.contact; 
ROS_INFO("Contact value: %i", test);

and paste the output for us.

Another thing to consider: Most NXT launch files should provide the sensor data for you. Most would write a listener, then a publisher for motor commands.